#ifndef CARTOGRAPHER_MAPPING_2D_SUBMAP_2D_H_
#define CARTOGRAPHER_MAPPING_2D_SUBMAP_2D_H_

#include <memory>
#include <vector>

#include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/mapping/2d/grid_2d.h"
#include "cartographer/mapping/2d/map_limits.h"
#include "cartographer/mapping/proto/serialization.pb.h"
#include "cartographer/mapping/proto/submap_visualization.pb.h"
#include "cartographer/mapping/proto/submaps_options_2d.pb.h"
#include "cartographer/mapping/range_data_inserter_interface.h"
#include "cartographer/mapping/submaps.h"
#include "cartographer/mapping/trajectory_node.h"
#include "cartographer/mapping/value_conversion_tables.h"
#include "cartographer/sensor/range_data.h"
#include "cartographer/transform/rigid_transform.h"

namespace cartographer
{
    class SubmapUpdator2d;

    namespace mapping
    {
        proto::SubmapsOptions2D CreateSubmapsOptions2D(common::LuaParameterDictionary *parameter_dictionary);

        class Submap2D : public Submap
        {
        public:
            Submap2D(const Eigen::Vector2f &origin, std::unique_ptr<Grid2D> grid, ValueConversionTables *conversion_tables);
            explicit Submap2D(const proto::Submap2D &proto, ValueConversionTables *conversion_tables);

            proto::Submap ToProto(bool include_grid_data) const override;

            void UpdateFromProto(const proto::Submap &proto) override;

            void ToResponseProto(const transform::Rigid3d &global_submap_pose, proto::SubmapQuery::Response *response) const override;

            const Grid2D *grid() const
            {
                return grid_.get();
            }

            Grid2D *GridPtr()
            {
                return grid_.get();
            }

            // Insert 'range_data' into this submap using 'range_data_inserter'. The
            // submap must not be finished yet.
            void InsertRangeData(const sensor::RangeData &range_data, const RangeDataInserterInterface *range_data_inserter);

            void Finish();
            std::unique_ptr<Grid2D> grid_;

        private:
            ValueConversionTables *conversion_tables_;
        };

        typedef std::vector<std::shared_ptr<const Submap2D>> LocalSubmap2D;

        // The first active submap will be created on the insertion of the first range
        // data. Except during this initialization when no or only one single submap
        // exists, there are always two submaps into which range data is inserted: an
        // old submap that is used for matching, and a new one, which will be used for
        // matching next, that is being initialized.
        //
        // Once a certain number of range data have been inserted, the new submap is
        // considered initialized: the old submap is no longer changed, the "new" submap
        // is now the "old" submap and is used for scan-to-map matching. Moreover, a
        // "new" submap gets created. The "old" submap is forgotten by this object.
        class ActiveSubmaps2D
        {
        public:
            explicit ActiveSubmaps2D(const proto::SubmapsOptions2D &options);

            ActiveSubmaps2D(const ActiveSubmaps2D &) = delete;
            ActiveSubmaps2D &operator=(const ActiveSubmaps2D &) = delete;

            LocalSubmap2D submaps() const;

            // Inserts 'range_data' into the Submap collection.
            LocalSubmap2D InsertRangeData(const sensor::RangeData &range_data);

            std::vector<std::shared_ptr<Submap2D>> submaps_;

        private:
            std::unique_ptr<RangeDataInserterInterface> CreateRangeDataInserter();

            std::unique_ptr<GridInterface> CreateGrid(const Eigen::Vector2f &origin);

            void FinishSubmap();

            void AddSubmap(const Eigen::Vector2f &origin);

        private:
            int submapCnt_ = 0;
            const proto::SubmapsOptions2D options_;
            std::unique_ptr<RangeDataInserterInterface> range_data_inserter_;
            ValueConversionTables conversion_tables_;
        };

    } // namespace mapping
} // namespace cartographer

#endif // CARTOGRAPHER_MAPPING_2D_SUBMAP_2D_H_
